90 lines
2.3 KiB
Python
90 lines
2.3 KiB
Python
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import crc
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import serial
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import time
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OP_SET_TARGETS = 0x01
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OP_ARM = 0x02
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OP_GO = 0x03
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OP_PING = 0x04
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OP_REG_WRITE = 0x05
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OP_REG_READ = 0x06
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REG_INDEX_ADJUST = 0
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REG_ROTATE_NOP = 1
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REG_ONE_REV_MIN = 2
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REG_REV_COUNT_0 = 3
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REG_REV_COUNT_1 = 4
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REG_REV_COUNT_2 = 5
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REG_REV_COUNT_3 = 6
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REG_REV_COUNT_4 = 7
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REG_REV_COUNT_5 = 8
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REG_REV_COUNT_6 = 9
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REG_FREQ_D = 10
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REG_FREQ_N = 11
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REG_CRC_ERRORS = 12
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REG_ZERO_NOISE = 13
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def build(address, flags, payload, print_it=True):
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packet_len = 1+2+1+2+len(payload)+4
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b = bytearray(packet_len)
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b[0] = 0xff
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b[1] = address & 0xff
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b[2] = address >> 8
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b[3] = flags
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b[4] = len(payload) & 0xff
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b[5] = len(payload) >> 8
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b[6:6+len(payload)] = payload
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b[6+len(payload)+0] = 0xff
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b[6+len(payload)+1] = 0xff
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b[6+len(payload)+2] = 0xff
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b[6+len(payload)+3] = 0xff
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crc32 = crc.CRC32(b, packet_len - 4);
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b[6+len(payload)+0] = (crc32 >> (0*8)) & 0xff
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b[6+len(payload)+1] = (crc32 >> (1*8)) & 0xff
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b[6+len(payload)+2] = (crc32 >> (2*8)) & 0xff
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b[6+len(payload)+3] = (crc32 >> (3*8)) & 0xff
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#if print_it:
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#print('Tx: %s' % (('xxxx','STGT', 'ARM ', 'GO ', 'PING', 'REGW', 'REGR')[b[6]]) ),
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#for bb in b:
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#print(" %02x" % bb),
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#print('')
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return b
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def ping(address, print_it=True):
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return build(address, 0, [0x04, 0x00, 0x00], print_it)
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def set_targets(address, targets, print_it=True):
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payload = bytearray(8)
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payload[0] = OP_SET_TARGETS
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for i in range(len(payload)-1):
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if i < len(targets):
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payload[i+1] = targets[i]
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else:
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payload[i+1] = ' '
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return build(address, 0, payload, print_it)
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def arm(address, print_it=True):
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return build(address, 0, [OP_ARM], print_it)
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def go(address, print_it=True):
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return build(address, 0, [OP_GO], print_it)
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def reg_write(address, reg, val, print_it=True):
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return build(address, 0, [OP_REG_WRITE, reg & 0xff, ((val>>8)&0xff), val & 0xff], print_it)
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def reg_read(address, reg, print_it=True):
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return build(address, 0, [OP_REG_READ, reg & 0xff], print_it)
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def send(sport, s):
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sport.rts = False # Set high... logic is inverted
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sport.write([s[0]])
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for c in s[1:]:
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if c == 0xfe or c == 0xff:
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sport.write([0xfe])
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sport.write([c])
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time.sleep(.01) # Delay
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sport.rts = True # Set low... logic is inverted
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